Peer-to-peer occupancy estimation

An ego agent for indicating occlusion information, comprising:

• one or more processors;
• and
• one or more memories coupled with the one or more processors and storing instructions operable, when executed by the one or more processors, to cause the ego agent:
• observe a spatial area from a first viewpoint of one or more first sensors associated with the ego agent;
• identify the spatial area as an occluded area in accordance with observing the spatial area from a second viewpoint of the one or more first sensors after observing the spatial area from the first viewpoint;
• receive, from a target agent, a message indicating the spatial area is occluded from one or more second sensors associated with the target agent;
• and
• transmit, to the target agent in accordance with receiving the message, the occlusion information indicating information associated the spatial area based on identifying the spatial area as the occluded area.

A non-transitory computer-readable medium having program code recorded thereon for indicating occlusion information via an ego agent, comprising:

• program code to observe a spatial area from a first viewpoint of one or more first sensors associated with the ego agent;
• program code to identify the spatial area as an occluded area in accordance with observing the spatial area from a second viewpoint of the one or more first sensors after observing the spatial area from the first viewpoint;
• program code to receive, from a target agent, a message indicating the spatial area is occluded from one or more second sensors associated with the target agent;
• and
• program code to transmit, to the target agent in accordance with receiving the message, the occlusion information indicating information associated the spatial area based on identifying the spatial area as the occluded area.